| The application of municipal drainage pipeline in urban construction is gradually increasing,but due to the continuous development of underground space,the pipeline damage and settlement are easy to occur pipe collapse,ground collapse and other serious situations.In order to ensure the normal work of the drainage pipeline and the municipal work in an orderly manner,it is of great significance to carry out emergency detection of the drainage pipeline.Because of the different diameters of drainage pipes and the presence of a large number of inflammable and explosive toxic gases in the pipes,it is very difficult to manually run the wells,so it is very important to complete the emergency inspection of the pipes by robot.At present,most of the existing pipeline inspection robots are only suitable for the acceptance of new pipelines,which is difficult to adapt to the harsh environment of drainage pipelines.In addition,there are a large number of household garbage,branches,bricks and other sundries in the pipeline,which requires the emergency pipeline detection robot to have a strong ability of obstacle crossing.This thesis has completed the development and test of the emergency pipeline detection robot,which has the functions of radar detection,video acquisition,adapting to different pipe diameters and strong ability of obstacle crossing.The robot is driven by a waterproof motor,and the diameter of the 600-1050 mm pipe is adjusted by cylinder drive.The damage detection radar can swing around the wall,and the video collection in the pipe is completed at the same time.The specific work of this thesis is as follows:The scheme and mechanical structure design of the emergency pipeline inspection robot are completed.For the walking mechanism of the robot,an integrated scheme of motor bevel gear bidirectional wheel was designed.The reducer adjusting mechanism driven by cylinder is designed to meet the requirements of different pipe diameters,and the fuselage axis is always aligned with the pipe axis in the working process of the robot.At the same time,motor drive along the two sides of the arc rack swing arm mechanism,so as to realize the radar swing around the wall detection.In addition,the comparative selection of related testing equipment has been completed.The research on the obstacle crossing performance of emergency pipeline detection robot is completed.For robot obstacle-navigation problems increase adaptive institutional improvement scheme is put forward,to complete the necessary conditions of the driven pulley obstacle and calculation of the driving wheel biggest obstacle height,and stress analysis was carried out on the all driven pulley obstacle negotiation process,using the ADAMS software to quantitative simulation process of Vietnam barrier,verify the feasibility of the improved scheme and 50 mm high reliability of the obstacle negotiation.The robot’s working force analysis,type selection check and control system design improvement are completed.The flow resistance of the robot is analyzed,the relationship between pipe diameter and wall support force is simulated by using ADAMS,and the force analysis of the robot’s walking and swinging process is carried out,so as to complete the selection of cylinder and motor,and the strength of the important parts is checked.Fluidsim-P software was used to complete the design improvement of the pneumatic control system,and the hardware selection and design of the robot’s main control unit and circuit were completed to realize the integration of the robot’s walking and detection functions.On completion of design and calculation,emergency pipeline inspection robot prototype,and the pipeline through the laboratory test and field test,through the test can be seen that the robot has the characteristics of axis always overlap,obstacle surmounting of robot capability is strong,stable and reliable detection device,and is suitable for the characteristics of different pipe diameter,and is a good way to complete the real drainage pipeline emergency detection work. |
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